/**
 * @file rm_referee.C
 * @author kidneygood (you@domain.com)
 * @brief
 * @version 0.1
 * @date 2022-11-18
 *
 * @copyright Copyright (c) 2022
 *
 */

#include "rm_referee.h"

#include "bsp_log.h"
#include "bsp_usart.h"
#include "cmsis_os.h"
#include "crc_ref.h"
#include "daemon.h"
#include "string.h"
#include "task.h"

#define RE_RX_BUFFER_SIZE 255u  // 裁判系统接收缓冲区大小

static USARTInstance *referee_usart_instance;  // 裁判系统串口实例
static DaemonInstance *referee_daemon;         // 裁判系统守护进程
static referee_info_t referee_info;            // 裁判系统数据

/**
 * @brief  读取裁判数据,中断中读取保证速度
 * @param  buff: 读取到的裁判系统原始数据
 * @retval 是否对正误判断做处理
 * @attention  在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
 */
static void JudgeReadData(uint8_t *buff) {
  uint16_t judge_length;  // 统计一帧数据长度
  if (buff == NULL)       // 空数据包，则不作任何处理
    return;

  // 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
  memcpy(&referee_info.FrameHeader, buff, LEN_HEADER);

  // 判断帧头数据(0)是否为0xA5
  if (buff[SOF] == REFEREE_SOF) {
    // 帧头CRC8校验
    if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE) {
      // 统计一帧数据长度(byte),用于CR16校验
      judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
      // 帧尾CRC16校验
      if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE) {
        // 2个8位拼成16位int
        referee_info.CmdID = (buff[6] << 8 | buff[5]);
        // 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
        // 第8个字节开始才是数据 data=7
        switch (referee_info.CmdID) {
          case ID_game_state:  // 0x0001
            memcpy(&referee_info.GameState, (buff + DATA_Offset), LEN_game_state);
            break;
          case ID_game_result:  // 0x0002
            memcpy(&referee_info.GameResult, (buff + DATA_Offset), LEN_game_result);
            break;
          case ID_game_robot_survivors:  // 0x0003
            memcpy(&referee_info.GameRobotHP, (buff + DATA_Offset), LEN_game_robot_HP);
            break;
          case ID_event_data:  // 0x0101
            memcpy(&referee_info.EventData, (buff + DATA_Offset), LEN_event_data);
            break;
          case ID_supply_projectile_action:  // 0x0102
            memcpy(&referee_info.SupplyProjectileAction, (buff + DATA_Offset), LEN_supply_projectile_action);
            break;
          case ID_referee_warning:  // 0x0104
            memcpy(&referee_info.RefereeWarning, (buff + DATA_Offset), LEN_referee_warning);
            break;
          case ID_game_robot_state:  // 0x0201
            memcpy(&referee_info.GameRobotState, (buff + DATA_Offset), LEN_game_robot_state);
            break;
          case ID_power_heat_data:  // 0x0202
            memcpy(&referee_info.PowerHeatData, (buff + DATA_Offset), LEN_power_heat_data);
            break;
          case ID_game_robot_pos:  // 0x0203
            memcpy(&referee_info.GameRobotPos, (buff + DATA_Offset), LEN_game_robot_pos);
            break;
          case ID_buff_musk:  // 0x0204
            memcpy(&referee_info.BuffMusk, (buff + DATA_Offset), LEN_buff_musk);
            break;
          // case ID_aerial_robot_energy: // 0x0205
          // 	memcpy(&referee_info.AerialRobotEnergy, (buff + DATA_Offset), LEN_aerial_robot_energy);
          // 	break;
          case ID_robot_hurt:  // 0x0206
            memcpy(&referee_info.RobotHurt, (buff + DATA_Offset), LEN_robot_hurt);
            break;
          case ID_shoot_data:  // 0x0207
            memcpy(&referee_info.ShootData, (buff + DATA_Offset), LEN_shoot_data);
            break;
          case ID_projectile_allowance:  // 0x0208
            memcpy(&referee_info.ProjectileAllowance, (buff + DATA_Offset), LEN_projectile_allowance);
            break;
          case ID_RFID_info:  // 0x0209
            memcpy(&referee_info.RFIDStatus, (buff + DATA_Offset), LEN_RFID_info);
            break;
          case ID_student_interactive:  // 0x0301   syhtodo接收代码未测试
            memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data);
            break;
        }
      }
    }
    // 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
    if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) ==
        0xA5) {  // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
      JudgeReadData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
    }
  }
}

/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback() {
  DaemonReload(referee_daemon);
  JudgeReadData(referee_usart_instance->recv_buff);
}
// 裁判系统丢失回调函数,重新初始化裁判系统串口
static void RefereeLostCallback(void *arg) {
  USARTServiceInit(referee_usart_instance);
  LOGWARNING("[rm_ref] lost referee data");
}

/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle) {
  USART_Init_Config_s conf;
  conf.module_callback = RefereeRxCallback;
  conf.usart_handle = referee_usart_handle;
  conf.recv_buff_size = RE_RX_BUFFER_SIZE;  // mx 255(u8)
  referee_usart_instance = USARTRegister(&conf);

  Daemon_Init_Config_s daemon_conf = {
      .callback = RefereeLostCallback,
      .owner_id = referee_usart_instance,
      .reload_count = 30,  // 0.3s没有收到数据,则认为丢失,重启串口接收
  };
  referee_daemon = DaemonRegister(&daemon_conf);

  return &referee_info;
}

/**
 * @brief 裁判系统数据发送函数
 * @param
 */
void RefereeSend(uint8_t *send, uint16_t tx_len) {
  USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
  osDelay(115);
}
